Relay port operation apparatus and relay port operation method

Abstract

To provide a relay port operation apparatus for and a relay port operation method of safely delivering a delivery object through a relay port.SOLUTION: In a delivery system, a relay port operation apparatus 100 according to the present invention operates a relay port provided for a flying body to deliver a delivery object and for other delivery means different from the flying body to receive the delivery object. The relay port operation apparatus has a reception unit 111 for receiving at least either of an attribute of the delivery object and a final reception time of the delivery object as input information, a delivery plan creating unit 112 for creating a delivery plan for making the flying body and the other delivery means cooperating with each other through the relay port by using the input information received by the reception unit, an integrated operation management unit 113 for managing an operation of the flying body and the other delivery means based on the delivery plan created by the delivery plan creating unit, and an output unit 114 for, if a distance from the relay port to the other delivery means becomes smaller than a predetermined distance, outputting permission of movement of the delivery object to at least one of the flying body and the other delivery object.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a relay port operating device and a relay port operating method. [Background technology]

[0002] Patent Document 1 discloses an operation management device that manages an operation plan of a first transport aircraft that transports an item and a second transport aircraft that transports an item handed over from the first transport aircraft. The operation management device described in Patent Document 1 includes an information acquisition unit that acquires first location information indicating the current location of the first transport aircraft, second location information indicating the current location of the second transport aircraft, and delivery destination information indicating the delivery destination of the item, and an operation management unit that creates an operation plan by selecting a use relay position from a plurality of relay positions where the item transported by the first transport aircraft can be handed over to the second transport aircraft based on the first location information, the second location information, and the delivery destination information.

[0003] Patent document 1 also describes that in order to minimize the time required to transfer items from a first transport aircraft that has arrived at the relay location to a second transport aircraft, the second transport aircraft is made to arrive at the relay location before the first transport aircraft arrives at the relay location. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-96126 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the second transport aircraft may arrive at the relay location later than scheduled. If the delivery item is stored at the relay location until the second transport aircraft arrives, there is a risk of theft or damage to the delivery item.

[0006] An object of the present invention is to safely deliver items via relay ports. [Means for solving the problem]

[0007] According to one aspect of the present invention, a relay port operating device operates a relay port provided for an aircraft to deliver a delivery item and for another delivery means different from the aircraft to receive the delivery item. The relay port operating device includes: a reception unit that receives at least one of an attribute of the delivery item and a final receiving time of the delivery item as input information; a delivery plan creation unit that uses the input information received by the reception unit to create a delivery plan in which the aircraft and the other delivery means cooperate via the relay port; an integrated operation management unit that manages the operation of the aircraft and the other delivery means based on the delivery plan created by the delivery plan creation unit; and an output unit that outputs a movement permission for the delivery item to at least one of the aircraft and the other delivery means when the distance from the relay port to the other delivery means becomes less than a predetermined distance. Effect of the Invention

[0008] According to the present invention, deliveries can be safely delivered via relay ports. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of a delivery system 10 according to this embodiment. [Diagram 2] FIG. 2 is a diagram showing examples of delivery route candidates. [Diagram 3] FIG. 3 is a schematic diagram of a delivery holding area 131 and a delivery delivery area 132 set in a relay port 130. As shown in FIG. [Figure 4] FIG. 4 is a block diagram illustrating an outline of the functions of the backbone port operation device 100. As shown in FIG. [Diagram 5] FIG. 5 is a diagram showing an example of information displayed on information terminal 142. As shown in FIG. [Figure 6] FIG. 6 is a functional block diagram of the trunk port operation device 100. As shown in FIG. [Figure 7] FIG. 7 is a diagram showing delivery attribute information. [Figure 8] FIG. 8 is a diagram showing flying object information. [Figure 9] FIG. 9 is a diagram showing relay point information. [Figure 10] FIG. 10 is a diagram showing spatial information. [Figure 11] FIG. 11 is a diagram showing the space into which the flight airspace is divided and possible flight routes. [Figure 12] FIG. 12 is a flowchart showing the flow of the processes executed in the operation planning phase and the processes executed in the transportation phase. [Figure 13] 13 is a flowchart showing details of the delivery process (step S150) in FIG. 12. [Figure 14] FIG. 14 is a diagram showing an example in which a delivery holding area 131 is set at a high place such as the rooftop of a store. [Figure 15] FIG. 15 is a diagram showing the manner in which the flying object 120 moves the delivery item 190 from the delivery item holding area 131 to the delivery item delivery area 132. [Figure 16] FIG. 16 is a diagram showing an example in which the delivery holding area 131 is set in the air. [Figure 17] FIG. 17 is a diagram showing how the transport device 181 moves the delivery 190 from the delivery holding area 131 to the delivery transfer area 132. As shown in FIG. [Figure 18] FIG. 18 is a diagram showing an example in which another delivery means 140 enters the delivery holding area 131 and moves the delivery 190. In FIG. [Figure 19] FIG. 19 is a diagram showing an example in which the location of the other delivery means 140 is determined by a short-distance authentication device 184 in the landing waiting method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] With reference to the drawings, a delivery system 10 including a relay port operating device 100 according to an embodiment of the present invention will be described. FIG. 1 is a configuration diagram of the delivery system 10 according to the present embodiment, and FIG. 2 is a diagram showing an example of a candidate delivery route. As shown in FIG. 1 and FIG. 2, the delivery system 10 includes a plurality of delivery means (aircraft 120, delivery personnel, dedicated delivery vehicles, etc.) that delivers a delivery item 190, which is an article, from a delivery base 109 to a delivery destination 150, and a relay port operating device 100 that manages the operation of the plurality of delivery means and operates a relay port 130 that is provided at a relay point between the delivery base 109 and the delivery destination 150. The plurality of delivery means include a plurality of air vehicles 120 and a plurality of delivery means (hereinafter, referred to as other delivery means) 140 different from the air vehicles 120. The relay port 130 is a destination to which the air vehicles 120 deliver the delivery item 190, and is provided for the other delivery means 140 to receive the delivery item 190.

[0011] The relay port operation device 100 creates a delivery plan by determining the departure time, delivery time, delivery route, delivery means (aircraft 120 and other delivery means 140) to be used for delivery of the delivery item 190, and transmits the created delivery plan to each of the multiple delivery means. The relay port operation device 100, the multiple delivery means (aircraft 120 and other delivery means 140), and other means constituting the delivery system 10 each have a communication device and are capable of sending and receiving information to each other.

[0012] As shown in Fig. 1, the relay port operation device 100 includes a control device 110, a communication device 103, a display device 104, and an input device 105. The control device 110 controls the communication device 103 and the display device 104 based on information input via the communication device 103 and the input device 105. The input device 105 is a keyboard, a mouse, or the like, and is operated by an administrator who manages delivery. The display device 104 is a liquid crystal display device or the like. The administrator operates the input device 105 to display information such as delivery status on the display screen of the display device 104. The administrator also updates data (threshold values, data tables, etc.) stored in the storage device 102 of the control device 110 by operating the input device 105.

[0013] The control device 110 is composed of a computer equipped with a processing device 101, a storage device 102, an input / output interface, and other peripheral circuits. These pieces of hardware work together to operate software and realize a number of functions. The controller may be composed of one computer or multiple computers. The processing device 101 is a processor such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). The storage device 102 includes a non-volatile memory such as a ROM (Read Only Memory), a flash memory, or a hard disk drive, and a volatile memory known as a RAM (Random Access Memory).

[0014] The non-volatile memory stores programs capable of executing various calculations. In other words, the non-volatile memory is a storage medium capable of reading programs that realize the functions of this embodiment. The volatile memory temporarily stores the results of calculations performed by the processing device 101 and signals input from the input / output interface. The processing device 101 is a device that loads the programs stored in the non-volatile memory into the volatile memory and executes calculations, and performs predetermined calculations on data taken in from the input / output interface and the storage device 102 in accordance with the programs.

[0015] An input unit of the input / output interface converts signals input from various devices (such as the communication device 103 and the input device 105) into data that can be calculated by the processing device 101. An output unit of the input / output interface generates an output signal according to the calculation result in the processing device 101, and outputs the signal to various devices (such as the communication device 103 and the display device 104).

[0016] The flying object 120 is a device capable of autonomous flight while holding the delivery item 190. In this embodiment, an example in which the flying object 120 is a drone will be described, but the flying object 120 may be an unmanned small airplane or the like. The flying object 120 takes off from a departure point and flies to a destination along a target flight path based on an instruction transmitted from the relay port operation device 100. The flying object 120 includes, for example, a rectangular housing body 121 and a plurality of blade rotors 122 provided on the housing body 121. The blade rotor 122 is driven by an electric motor (not shown). By controlling the rotation speed of each blade rotor 122, the flying object 120 can ascend, descend, fly along a target flight path, and hover in the air at the same position in the sky.

[0017] The housing body 121 of the flying object 120 is provided with an flying object control device 123, a communication device 124, and a position and orientation sensor 125. The position and orientation sensor 125 has a position sensor 125a that detects the position of the flying object 120, and an orientation sensor 125b that detects the orientation of the flying object 120.

[0018] The position sensor 125a is for acquiring the position of the flying object 120. The attitude sensor 125b is for acquiring the direction of the flying object 120. The position sensor 125a and the attitude sensor 125b each have, for example, an antenna for multiple GNSS (Global Navigation Satellite System) (hereinafter, referred to as GNSS antenna) and a positioning calculation device that calculates the position of the flying object 120 expressed in real coordinates in a three-dimensional space and an azimuth angle, which is an angle from a reference direction, based on satellite signals (GNSS radio waves) from multiple positioning satellites received by the GNSS antenna. The position of the flying object 120 is expressed, for example, by the position coordinates of the flying object 120 in a geographic coordinate system (global coordinate system). Note that the attitude sensor 125b may include, for example, an IMU (Inertial Measurement Unit) and a calculation device that calculates the direction of the flying object 120 based on angular acceleration information detected by the IMU.

[0019] The flying object control device 123 is configured with a computer equipped with a processing device, a storage device, an input / output interface, and other peripheral circuits, similar to the control device 110. The flying object control device 123 transmits the position and attitude information of the flying object 120 detected by the position and attitude sensor 125 to the relay port operation device 100 via the communication device 124. The position and attitude information of the flying object 120 includes the position of the flying object 120 in a geographic coordinate system and the tilt angle (yaw angle, roll angle, pitch angle) of the flying object 120. In addition, the flying object control device 123 acquires flight plan information including a target flight path from the relay port operation device 100 via the communication device 124. The target flight path is configured, for example, by position coordinates constituting a path in a plane parallel to a horizontal plane and a flight altitude at each position coordinate. The target flight path may be configured by a plurality of three-dimensional position coordinates. The flying object control device 123 flies the flying object 120 along the target flight path based on the flight plan information.

[0020] The housing body 121 of the flying object 120 is provided with a holding arm 126 capable of holding the delivery item 190. The flying object control device 123 controls the opening and closing of the holding arm 126. The flying object control device 123 unloads the delivery item 190 by opening the holding arm 126.

[0021] The other delivery means 140 is a means capable of moving autonomously while holding the delivery item 190. Examples of the other delivery means 140 include vehicles such as bicycles, motorcycles, and automobiles, delivery personnel who deliver the delivery items using vehicles, delivery personnel who deliver the delivery items on foot, and users 149.

[0022] As shown in Fig. 2, a delivery item 190 is sent from a delivery base 109 and delivered to a delivery destination 150 via relay points. A storage facility owned by a delivery company is installed at relay point A. A security box is installed at relay point B. A staff member who manages the delivery item 190 is always present at relay point C.

[0023] At relay point D, only relay port 130 is installed, and there is no storage, security box, or full-time staff. Therefore, at relay point D, there is a risk of theft or damage of delivery item 190 from the time when delivery item 190 arrives at relay point D until it is handed over to other delivery means 140. Therefore, in this embodiment, a delivery holding area (no access area) to which access from outside is prohibited is provided at relay port 130, and delivery item 190 is held in the delivery holding area until other delivery means 140 is located near relay port 130.

[0024] FIG. 3 is a schematic diagram of a delivery holding area 131 and a delivery delivery area 132 set in the relay port 130. As shown in FIG. 3, a delivery holding area 131 and a delivery delivery area 132 are set in the relay port 130. The delivery holding area 131 is set, for example, on the roof of a store such as a convenience store. The delivery holding area 131 may be formed by a structure that can physically block contact and intrusion from the outside (hereinafter, also referred to as an intrusion prevention structure). The delivery holding area 131 set on the roof of the store cannot be accessed by a third party unless a ladder or the like is used. In addition, when an intrusion prevention structure such as a fence or a wall is provided, an area surrounded by the fence or the wall is set as the delivery holding area 131. The delivery holding area 131 may be set in the air at a predetermined height or higher. When the delivery holding area 131 is set in the air, the flying object 120 does not unload the delivery 190 and holds the delivery 190 in the air.

[0025] The delivery delivery area 132 is set in a place on the ground or the like that is accessible by other delivery means 140. There is a possibility that the delivery delivery area 132 may be accessible by a third party. For this reason, the relay port operation device 100 according to this embodiment controls various devices such as the flying object 120 so as to keep the delivery 190 in the delivery delivery area 132 for as short a time as possible.

[0026] Fig. 4 is a block diagram for explaining an outline of the function of the relay port operation apparatus 100. As shown in Fig. 4, the relay port operation apparatus 100 acquires delivery information such as delivery item attribute information, aircraft information, relay point information, and spatial information from the data server 160.

[0027] Furthermore, the trunk port operating apparatus 100 acquires user information from the user interface 151. The user information includes information on the delivery destination (location) such as the address of the user 149, the desired delivery date and time, the name and telephone number of the user 149, and the like. The user interface 151 is a smartphone, a personal computer, or the like. The user 149 inputs the user information using the user interface 151, and the user interface 151 transmits the user information to the trunk port operating apparatus 100 via a communication device mounted on the user interface 151.

[0028] The relay port operation device 100 creates a delivery plan based on the delivery information acquired from the data server 160 and the user information acquired from the user interface 151. The relay port operation device 100 transmits flight plan information included in the created delivery plan to the flying object 120. The flying object 120 flies based on the flight plan information. The flying object 120 transmits status information such as the current position and speed of the flying object 120 to the relay port operation device 100.

[0029] The relay port operation device 100 transmits information such as the location information of the relay point included in the created delivery plan, and the time when the flying object 120 will arrive at the relay point, to the other delivery means 140. In addition, the relay port operation device 100 transmits the current delivery status, such as information indicating whether or not movement from the relay port 130 is permitted, to the other delivery means 140.

[0030] The other delivery means 140 is equipped with an information terminal 142. The information terminal 142 may be a smartphone carried by a delivery person, or may be an on-board device mounted on the delivery vehicle 141. The information terminal 142 of the other delivery means 140 is equipped with a position sensor that detects the position of the other delivery means 140, and a terminal communication device that transmits the position detected by the position sensor to the relay port operation device 100 and receives various instructions and notifications from the relay port operation device 100. The position sensor of the other delivery means 140 is configured to include, for example, a GNSS antenna and a positioning calculation device, similar to the position sensor 125a of the flying object 120. When the other delivery means 140 receives an instruction or notification from the relay port operation device 100, it presents the information to the delivery person.

[0031] Fig. 5 is a diagram showing an example of information displayed on the information terminal 142. As shown in Fig. 5, the information terminal 142 includes a display device 143a such as a liquid crystal display, an input device 143b such as a touch sensor provided on the display screen of the display device 143a, and a terminal control device (not shown) that controls the display device 143a and the terminal communication device in response to an input signal from the input device 143b. The terminal control device (not shown), like the control device 110, is composed of a computer including a processing device, a storage device, an input / output interface, and other peripheral circuits.

[0032] The display device 143a displays a map display screen 144a that displays map information, and a relay point status display screen 144b that displays the status of a relay point. The map display screen 144a displays the current position of the information terminal 142 (the current position of the other delivery means 140) 144c, a map of a predetermined area centered on the current position 144c, and a plurality of relay points 144d within the predetermined area. The relay point status display screen 144b displays relay point identification information, arrival time information, and delivery item status information. In the illustrated example, the relay point identification information is information (relay point A, relay point B, relay point C) that identifies the relay points that are the destinations of the delivery item 190 of the flying object 120. Note that the address indicating the location of the relay point may also be displayed as the relay point identification information. The arrival time information displayed on the display screen of the display device 143a is the actual arrival time if the delivery item 190 has arrived at the destination (relay point), and is the scheduled arrival time if the delivery item 190 has not arrived at the destination (relay point).

[0033] The relay port operation device 100 transmits instructions and notification information to a plurality of other delivery means 140 existing within a predetermined range including the relay point. When a relay point selection operation is performed in one of the information terminals 142 of the plurality of other delivery means 140, the information terminal 142 determines the selected relay point as the destination (transport destination) to which the other delivery means 140 is heading. The information terminal 142 transmits a message to the relay port operation device 100 indicating that the relay point has been selected. In order to prevent the selected relay point from being selected in duplicate by the information terminals 142 of other delivery means 140, the relay port operation device 100 executes a process of prohibiting an operation of selecting the relay point as the transport destination.

[0034] In the illustrated example, relay point A is selected as the next transportation destination (i.e., the destination). When relay point A is selected, information terminal 142 displays a hollow triangular mark 144e indicating that relay point A has been selected on map display screen 144a, and displays a thick frame indicating that relay point A has been selected on relay point status display screen 144b.

[0035] The delivery item status information displayed on the information terminal 142 includes a "◯" mark indicating that the delivery item 190 that has arrived at the destination is in a state where movement is permitted, an "X" mark indicating that the delivery item 190 has not arrived at the destination, and a "Waiting" message indicating that the delivery item 190 has arrived at the destination but movement of the delivery item 190 is not permitted.

[0036] 6 is a functional block diagram of relay port operating device 100. Relay port operating device 100 functions as reception unit 111, delivery plan creation unit 112, integrated operation management unit 113, and output unit 114. The respective functions of delivery plan creation unit 112 and integrated operation management unit 113 are exerted by control device 110. The functions of reception unit 111 and output unit 114 are exerted by control device 110 and communication device 103.

[0037] The reception unit 111 receives the delivery item attribute information, flying object information, relay point information, and spatial information from the data server 160, and the desired delivery date and time from the user interface 151 as input information. The delivery plan creation unit 112 uses the input information received by the reception unit 111 to create a delivery plan in which the flying object 120 and the other delivery means 140 cooperate with each other via the relay port 130. The integrated operation management unit 113 manages the operation of the flying object 120 and the other delivery means 140 based on the delivery plan created by the delivery plan creation unit 112. When the distance D1 from the relay port 130 to the other delivery means 140 becomes less than a predetermined distance D0, the output unit 114 outputs a movement permission for the delivery item 190 to at least one of the flying object 120 and the other delivery means 140. The movement permission for the delivery item 190 means that at least one of the flying object 120 and the other delivery means 140 is allowed to move the delivery item 190 in the vicinity of the relay port 130.

[0038] 4, the delivery item attribute information is stored in a delivery item attribute database 161 of the data server 160. The aircraft information is stored in an aircraft database 162 of the data server 160. The relay point information is stored in a relay point database 163 of the data server 160. The spatial information is stored in a spatial information database 164 of the data server 160.

[0039] Fig. 7 is a diagram showing delivery item attribute information. As shown in Fig. 7, the delivery item attribute information, which is delivery item identification information 161a, delivery request date and time 161b, delivery destination (location) 161c, weight 161d of the delivery item 190, size 161e of the delivery item 190, impact resistance value 161f, weather resistance / temperature information 161g, confidential information 161h, installation direction 161i, and type 161j of the delivery item 190, are stored in association with each delivery item 190.

[0040] The delivery item identification information 161a is information for identifying the delivery item 190. The desired delivery date and time 161b is the date and time at which the user 149 desires delivery. The desired delivery date and time 161b is updated by information sent from the user interface 151. The other delivery means 140 delivers the delivery item 190 so that it arrives at the delivery destination 150 at the desired delivery date and time 161b. The desired delivery date and time 161b is the date and time of receipt at the final point on the delivery route, and therefore corresponds to the final receipt date and time (final receipt date and final receipt time) of the user 149. The delivery destination (location) 161c is the location coordinates of the delivery destination 150 in a geographic coordinate system.

[0041] Fig. 8 is a diagram showing flying object information. As shown in Fig. 8, flying object information, which is flying object identification information 162a, maximum portable size 162b, maximum portable weight 162c, characteristic data of possible flight time 162d, and standard speed 162e, are stored in association with each flying object 120.

[0042] The air vehicle identification information 162a is information for identifying the air vehicle 120. The maximum carry size 162b is the maximum size (length L x width W x height H) that the air vehicle 120 can carry. The maximum carry weight 162c is the maximum weight that the air vehicle 120 can carry. The flight time characteristic data 162d is a data table or formula data that specifies the relationship between the wind speed, the weight of the delivery item 190, and the flight time. The standard speed 162e corresponds to the speed of the air vehicle 120 when the air vehicle 120 is not carrying the delivery item 190 and the wind speed is 0 [m / sec], for example.

[0043] Fig. 9 is a diagram showing relay point information. As shown in Fig. 9, relay point information, which includes relay point identification information 163a, wind condition information 163b, amount of precipitation 163c, amount of snowfall 163d, temperature 163e, regulation information 163f, security information 163g, charging facility information 163h, and position detection means 163i, are stored in association with each relay point.

[0044] The relay point identification information 163a is information for identifying the relay point, and includes the position coordinates of the relay point in the geographic coordinate system. The wind condition information 163b is information indicating the wind direction and wind speed of the relay point. The precipitation amount 163c is the amount of rainfall at the relay point, and the snowfall amount 163d is the increase in snowfall height (amount of snowfall) per unit time at the relay point. The wind condition information 163b, the precipitation amount 163c, the snowfall amount 163d, and the temperature 163e of the relay point are observed by an environmental sensor 180 (see FIG. 1) installed near the relay point. The restriction information 163f is information indicating whether or not there is a restriction on the flight of the flying object 120 into the airspace of the relay point, and is provided by the restriction information providing device 172 (see FIG. 1). The security information 163g is information indicating the relay method in the delivery holding area 131. The charging facility information 163h is information indicating whether or not there is a charging facility at the relay point. The position detection means 163i is information indicating a means for detecting the relative position between the relay point and the other delivery means 140, and examples thereof include face recognition, code recognition using a QR code (registered trademark), and position information of the other delivery means 140.

[0045] Fig. 10 is a diagram showing space information. As shown in Fig. 10, space identification information 164a, obstacle information 164b, radio condition information 164c, wind condition vector 164d, precipitation amount 164e, snowfall amount 164f, temperature 164g, and regulation information 164h, which are space information, are stored in association with each space. Here, the space is a rectangular parallelepiped space with a predetermined length, width, and height, and is formed by dividing the flight airspace of the flying object 120.

[0046] Fig. 11 is a diagram showing a space obtained by dividing the flight airspace and candidates for flight routes. As shown in Fig. 11, a space according to this embodiment (hereinafter also referred to as a small divided space) 173 is a cubic space having the same length, width, and height. The position coordinates of the center point of the small divided space 173 in the space coordinate system are stored in the space information database 164 as space identification information 164a. The space coordinate system is an orthogonal coordinate system with the reference position in the flight airspace as the origin.

[0047] As shown in FIG. 10, the space identification information 164a is information for identifying the small divided space 173. The obstacle information 164b is information indicating whether or not there is an obstacle in the small divided space 173. The obstacle is, for example, a structure such as a building, a bird, or an aircraft such as a drone. The data server 160 determines whether or not there is an obstacle in the small divided space 173 based on the detection results of a plurality of environmental sensors 180 installed in the flight airspace, and stores the determination result as the obstacle information 164b. The wireless situation information 164c is information indicating the communication strength (communication level) in the small divided space 173, and is provided by the communication carrier 171 (see FIG. 1). The wind condition vector 164d is a vector indicating the wind direction and wind speed in the small divided space 173. The data server 160 calculates and stores the wind condition vector of the small divided space 173 based on the detection results of the plurality of environmental sensors 180. The amount of precipitation 164e, the amount of snowfall 164f, and the temperature 164g in the small divided space 173 are the same information as the amount of precipitation 163c, the amount of snowfall 163d, and the temperature 163e at the relay point described above, and are observed by a plurality of environmental sensors 180 installed in the flight airspace. The restriction information 164h is information indicating whether or not there are restrictions on the flight of the flying object 120 in the small divided space 173, and is provided by a restriction information providing device 172 (see FIG. 1).

[0048] An example of the flow of processing executed by the control device 110 of the relay port operation apparatus 100 will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is a flowchart showing the flow of processing executed in the operation plan phase and the processing executed in the transportation phase. The processing shown in Fig. 12 is repeatedly executed by the relay port operation apparatus 100 at a predetermined control period.

[0049] As shown in FIG. 12, in step S110, the delivery plan creation unit 112 acquires delivery information (delivery item attribute information, aircraft information, relay point information, and spatial information) from the data server 160, and proceeds to step S115.

[0050] In step S115, the delivery plan creation unit 112 creates a delivery plan. The delivery plan creation process is, for example, created as follows. First, the delivery plan creation unit 112 selects an available flying object 120 based on the weight 161d and size 161e of the delivery item 190 and the maximum carrying weight 162c and maximum carrying size 162b of the flying object 120. For example, the delivery plan creation unit 112 selects an flying object 120 whose maximum carrying weight 162c is equal to or less than the weight of the delivery item 190 and whose maximum carrying size 162b is equal to or less than the size 161e of the delivery item 190. If there are multiple selected flying objects 120, the flying object 120 whose maximum carrying size 162b and maximum carrying weight 162c are relatively small among the selected flying objects 120 is determined as the flying object 120 to be used for delivery.

[0051] Next, the delivery plan creation unit 112 selects multiple relay ports 130a, 130b, and 130c between the delivery base 109 and the delivery destination 150, as shown in FIG. 11, based on the location of the delivery base 109 stored in advance in the storage device 102 and the delivery destination (location) 161c, which is delivery attribute information. The delivery plan creation unit 112 generates routes 174 (174a, 174b, and 174c) from the delivery base 109 to each relay port 130a, 130b, and 130c. The routes 174a, 174b, and 174c are set so as to pass through small divided spaces 173 that satisfy the following route conditions and so as to make the route length as short as possible.

[0052] The route condition is satisfied when all of the following (Condition 1) to (Condition 7) are satisfied, and is not satisfied when any one of (Condition 1) to (Condition 7) is not satisfied. (Condition 1) There is no obstacle. That is, the obstacle information 164b is set to "none." (Condition 2) The wireless situation is good. For example, the communication strength (communication level) as the wireless situation information 164c is equal to or higher than the strength threshold. (Condition 3) The magnitude (wind speed) of the wind condition vector 164d is less than the wind speed threshold. (Condition 4) The precipitation 164e is less than the precipitation threshold. (Condition 5) The snowfall 164f is less than the snowfall threshold. (Condition 6) The temperature 164g is greater than or equal to the first temperature threshold and less than the second temperature threshold. (Condition 7) Restriction information 164h is set to "none."

[0053] The delivery plan creation unit 112 refers to characteristic data 162d of the available flight time defined by the specifications of the aircraft 120, and calculates the available flight time based on the weight 161d of the delivery item 190 and the average value of the magnitude (wind speed) of the wind condition vector 164d of the multiple small divided spaces 173 including the route 174. Note that the available flight time defined by the characteristic data 162d is the value when the battery of the aircraft 120 is fully charged. For this reason, the available flight time may be corrected based on the current charging rate of the battery of the aircraft 120, etc.

[0054] The delivery plan creation unit 112 calculates the flight maintenance limit time t1 by subtracting the return time from the calculated flight time. The flight maintenance limit time t1 is the limit time that the aircraft 120 can fly while holding the delivery item 190. The return time is calculated based on the standard speed 162e of the aircraft 120 and the route length of the route 174 connecting the relay port 130 and the delivery base 109.

[0055] The storage device 102 stores a data table (hereinafter, referred to as a quality-keeping permissible time table) in which the type 161j of the delivery 190 is associated with the quality-keeping permissible time t2. The quality-keeping permissible time t2 is a permissible time for maintaining the quality of the delivery 190. For example, the quality-keeping permissible time t2 set for the type 161j of the delivery 190 that is an item that requires refrigeration, such as fresh produce, is shorter than the quality-keeping permissible time t2 set for the type 161j of the delivery 190 that is an item that does not require refrigeration, such as electronic equipment. The delivery plan creation unit 112 refers to the quality-keeping permissible time table and calculates the quality-keeping permissible time t2 based on the type 161j of the delivery 190. The delivery plan creation unit 112 may correct the quality-keeping permissible time t2 according to the average value of the air temperatures 164g of the multiple small divided spaces 173 that include the route 174.

[0056] The delivery plan creation unit 112 compares the calculated flight hold limit time t1 with the quality hold allowable time t2, and determines the smaller one as the delivery hold time t3. The delivery plan creation unit 112 calculates the departure time of the flying object 120 based on the desired delivery date and time 161b, the delivery hold time t3, and the predicted delivery time by the other delivery means 140.

[0057] For example, the delivery schedule creation unit 112 calculates a time that is the predicted delivery time before the desired delivery date and time 161b as the relay port receiving time. The delivery schedule creation unit 112 determines a time that is the delivery holding time t3 before the relay port receiving time as the departure time of the flying object 120.

[0058] The delivery plan creation unit 112 identifies other delivery means 140 that are present near the relay port 130 during a predetermined time period that includes the relay port receipt time. Assumed examples of other delivery means 140 that are present near the relay port 130 include employees of a delivery company that is in charge of a predetermined area that includes the relay port 130. When the delivery plan creation unit 112 determines that there are no other delivery means 140 present near the relay port 30 during the above time period, it excludes the relay port 30 from candidates for the transport destination.

[0059] The delivery plan creation unit 112 assigns a priority to each of the multiple routes 174a, 174b, 174c that connect the multiple relay ports 130a, 130b, 130c and the delivery base 109, which satisfy a predetermined condition. For example, the delivery plan creation unit 112 assigns a higher priority to the route from the relay port 130 to the delivery destination 150, which is shorter in length. Note that the method of assigning the priority is not limited to this, and the priority may be higher for the route from the delivery base 109 to the relay port 130, which is shorter in length. In addition, the method of assigning the priority may be changed depending on the type 161j of the delivery item 190.

[0060] As described above, the delivery plan creation unit 112 creates a delivery plan by determining the aircraft 120 to be used, one or more relay ports 130 and route 174 to be used, the departure time of the aircraft 120, etc., and proceeds to step S120 shown in Fig. 12. In step S120, the delivery plan creation unit 112 registers a relay method corresponding to the destination relay port 130. The relay method is determined by the security information 163g shown in Fig. 9.

[0061] For example, when the security information 163g is "rooftop arrival", the arrival return method is registered as the relay method. The arrival return method is a relay method in which the flying object 120 immediately returns after unloading the delivery item 190 in the delivery item holding area 131, and the other delivery means 140 takes the delivery item 190 out of the delivery item holding area 131. Also, when the security information 163g is "air hovering area", the air standby method is registered as the relay method. The air standby method is a relay method in which the flying object 120 holding the delivery item 190 waits in the delivery item holding area 131 in the air, and when the other delivery means 140 comes close to the relay port 130, the flying object 120 moves to the delivery item delivery area 132 and unloads the delivery item 190. When the security information 163g is "rooftop standby", the landing standby method is registered as the relay method. The landing waiting method is a relay method in which the aircraft 120 lands in a delivery holding area 131, and when another delivery means 140 comes near the relay port 130, the aircraft 120 moves to a delivery receiving / delivery area 132 to unload the delivery 190.

[0062] As shown in FIG. 12, in the next step S125, the integrated operation management unit 113 monitors whether the current time has reached the departure time included in the delivery plan. The air vehicle 120 is previously loaded with a delivery item 190. When the integrated operation management unit 113 determines that the current time has reached the departure time, the output unit 114 transmits a transport instruction to the air vehicle 120 to transport the delivery item 190 to the relay port 130. When the air vehicle 120 receives the transport instruction, it takes off from the delivery base 109 and starts transporting the delivery item 190 along the route 174 included in the delivery plan. In addition, in step S125, the output unit 114 transmits notification information indicating that transportation by the air vehicle 120 has started to other delivery means 140 that exists within a predetermined range including the destination of the air vehicle 120.

[0063] In the next step S130, the integrated traffic control unit 113 acquires status information such as the current position and speed of the flying object 120. As a result, the status information is shared between the flying object 120 and the integrated traffic control unit 113.

[0064] In the next step S135, the integrated traffic management unit 113 determines whether there is a change in the situation. For example, when at least one of the following (Condition A) to (Condition C) is satisfied, the integrated traffic management unit 113 determines that there is a change in the situation. When all of (Condition A) to (Condition C) are not satisfied, the integrated traffic management unit 113 determines that there is no change in the situation. (Condition A) There is no more waiting space in the delivery holding area 131 of the destination relay port 130. (Condition B) There are no other delivery means 140 near the destination relay port 130. (Condition C) The delivery holding area 131 of the destination relay port 130 is set in the air, and the weather has deteriorated to the point where waiting in the air is difficult.

[0065] (Condition A) is satisfied, for example, when another aircraft 120 that has made an emergency landing is waiting in the delivery holding area 131. Information about the emergency landing is transmitted to the relay port operation device 100 from the aircraft 120 that has made an emergency landing or from the relay port 130 at the emergency landing destination. The integrated operation control unit 113 can determine whether or not (Condition A) is satisfied, based on the status information of each aircraft 120 and information from the relay port 130.

[0066] (Condition B) is satisfied when the other delivery means 140 that was supposed to be near the relay port 130 is not present within a predetermined range including the relay port 130 due to an unforeseen event such as a breakdown of the delivery vehicle 141. Information on the unforeseen event of the other delivery means 140 is transmitted from the other delivery means 140 to the relay port operation device 100. The integrated operation control unit 113 can determine whether or not (Condition B) is satisfied based on the information on the unforeseen event transmitted from the other delivery means 140.

[0067] (Condition C) is satisfied when the weather at the relay port 130 changes from good to bad. The integrated operation control unit 113 determines that (Condition C) is satisfied when any one of the wind speed, the precipitation amount 163c, and the snowfall amount 163d included in the wind condition information 163b at the relay port 130 becomes equal to or greater than a corresponding threshold value.

[0068] If it is determined in step S135 that there has been a change in the situation, the process proceeds to step S140, and if it is determined that there has been no change in the situation, the process proceeds to step S145.

[0069] In step S140, the integrated traffic management unit 113 executes a process for determining whether or not the destination of the flying object 120 needs to be changed. The integrated traffic management unit 113 determines whether or not delivery to another relay port 130 is possible based on the difference from the original schedule due to the change in situation and the information on the candidate relay port 130 to be changed. If it is determined that delivery to the original destination relay port 130 is impossible, the integrated traffic management unit 113 changes the destination of the flying object 120 to another relay port 130 to which delivery is possible. Furthermore, the integrated traffic management unit 113 registers the relay method of the relay port 130, which is the new destination after the change. Note that, if it is determined that delivery to the original destination relay port 130 is possible, the integrated traffic management unit 113 does not change the destination.

[0070] For example, even when (Condition A) is satisfied, a waiting space may become available after a predetermined time has elapsed. In such a case, integrated traffic control unit 113 determines whether or not it is possible to move to the waiting space by the relay port receipt time, even if the vehicle waits at a predetermined location on the route for a predetermined time. If it is determined that it is possible to move to the waiting space by the relay port receipt time, integrated traffic control unit 113 determines that delivery to relay port 130, which is the original destination, is possible. On the other hand, if it is determined that it is not possible to move to the waiting space by the relay port receipt time, integrated traffic control unit 113 determines that delivery to relay port 130, which is the original destination, is not possible.

[0071] When the process of determining whether or not the destination of the aircraft 120 needs to be changed (step S140) is completed, the process proceeds to step S145. In step S145, the integrated operation control unit 113 determines whether or not the aircraft 120 has arrived at the relay port 130 based on the position information included in the status information of the aircraft 120 acquired in step S130 and the position information of the relay port 130.

[0072] In step S145, if the distance from the reference position of the relay port 130 to the position of the aircraft 120 is equal to or greater than the distance threshold for determining arrival, the integrated traffic control unit 113 determines that the aircraft 120 has not arrived at the relay port 130. In this case, the process returns to step S130. In step S145, if the distance from the reference position of the relay port 130 to the position of the aircraft 120 is less than the distance threshold for determining arrival, the integrated traffic control unit 113 determines that the aircraft 120 has arrived at the relay port 130. In this case, the process proceeds to step S150.

[0073] Fig. 13 is a flowchart showing details of the delivery process (step S150) in Fig. 12. When the delivery process (step S150) in Fig. 12 is started, first, in step S160, as shown in Fig. 13, the output unit 114 transmits a movement instruction to the flying object 120 to move the delivery item 190 to the delivery item holding area 131. Upon receiving the movement instruction, the flying object control device 123 moves the flying object 120 to the delivery item holding area 131.

[0074] In the next step S163, the integrated traffic management unit 113 judges whether the flying object 120 has arrived at the delivery holding area 131. For example, when a signal indicating arrival at the delivery holding area 131 is transmitted from the flying object 120, the integrated traffic management unit 113 judges that the flying object 120 has arrived at the delivery holding area 131. Note that the judgment method is not limited to this. For example, the integrated traffic management unit 113 may judge whether the flying object 120 has arrived at the delivery holding area 131 based on the position information of the flying object 120. The processing of step S163 is repeatedly executed at a predetermined control period until a positive judgment is made. If a positive judgment is made in step S163, the processing proceeds to step S166.

[0075] In step S166, the integrated operation control unit 113 judges whether the registered relay method is a standby method. If neither the airborne standby method nor the landing standby method is registered as the relay method, it is judged that the relay method is not a standby method, and the process proceeds to step S169. If the airborne standby method or the landing standby method is registered as the relay method, it is judged that the relay method is a standby method, and the process proceeds to step S175.

[0076] In step S169, the output unit 114 transmits a delivery arrival instruction to have the flying object 120 arrive at the delivery. When the flying object control device 123 receives the delivery arrival instruction, it lands the flying object 120 in the delivery holding area 131, unloads the delivery 190, and then causes the flying object 120 to take off again. When unloading is completed, the process proceeds to step S172.

[0077] In step S172, the output unit 114 transmits a return instruction to the flying object 120. Upon receiving the return instruction, the flying object control device 123 moves the flying object 120 to the delivery base 109.

[0078] In step S175, the integrated operation control unit 113 determines whether the registered relay method is the airborne waiting method or the landing waiting method. If the registered relay method is the airborne waiting method, the process proceeds to step S178, and if the registered relay method is the landing waiting method, the process proceeds to step S181.

[0079] In step S178, the output unit 114 transmits a hovering instruction to the flying object 120. When the flying object control device 123 receives the hovering instruction, it causes the flying object 120 to hover while holding the delivery item 190.

[0080] In step S181, the output unit 114 transmits a landing instruction to the flying object 120. Upon receiving the landing instruction, the flying object control device 123 causes the flying object 120 to land in the delivery item holding area 131. Note that the flying object 120 holds the delivery item 190 even after landing.

[0081] When the processing of steps S172, S178, and S181 is completed, the process proceeds to step S183. In step S183, the integrated traffic control unit 113 calculates the remaining time t5 by subtracting the elapsed time t4 from the departure time of the aircraft 120 from the delivery holding time t3 (t5=t3-t4).

[0082] In the next step S184, the integrated operation control unit 113 judges whether the remaining time t5 is less than the time threshold value t0. If it is judged that the remaining time t5 is equal to or greater than the time threshold value t0, the process proceeds to step S187, and if it is judged that the remaining time t5 is less than the time threshold value t0, the process proceeds to step S196. Note that the processes of steps S183 and S184 are omitted when the process of step S172 is being executed.

[0083] In step S187, the integrated operation management unit 113 detects the position of the other delivery means 140. In the next step S190, the integrated operation management unit 113 determines whether or not the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0 based on the detection result in step S187. The distance D1 may be a straight-line distance from the relay port 130 to the other delivery means 140, or the shortest distance (path) along a road. The predetermined distance (distance threshold) D0 is determined in advance and stored in the storage device 102. If it is determined that the distance D1 is equal to or greater than the predetermined distance D0, the process returns to step S183, and if it is determined that the distance D1 is less than the predetermined distance D0, the process proceeds to step S193. In step S193, the output unit 114 transmits a movement permission for the delivery 190 in the delivery holding area 131 to at least one of the flying object 120 and the other delivery means 140 according to the relay method. The method of detecting the position of the other delivery means 140 and the mode of movement permission are adopted according to the facilities and relay method of the relay port 130. The method of detecting the position of the other delivery means 140 and the mode of movement permission will be described in detail later.

[0084] In the next step S196, the output unit 114 transmits a return instruction to the flying object 120 if the flying object 120 is at the relay port 130. If the waiting method is the airborne waiting method or the landing waiting method, the flying object 120 is at the relay port 130, so a return instruction is transmitted to the flying object 120. When the flying object control device 123 receives the return instruction, it moves the flying object 120 to the delivery base 109. Note that the processing of step S196 is omitted if the processing of step S172 is being executed. Completion or omission of the processing of step S196 terminates the receiving processing (step S150 in FIG. 12).

[0085] The method of detecting the position of the other delivery means 140 and the mode of permission to move will be described in detail with reference to Fig. 14 to Fig. 18. Fig. 14 is a diagram showing an example in which a delivery item holding area 131 is set at a high place such as the rooftop of a store. Fig. 15 is a diagram showing how the flying object 120 moves a delivery item 190 from the delivery item holding area 131 to the delivery item delivery area 132.

[0086] When the relay method is the landing waiting method, as shown in FIG. 14, the flying object 120 lands in the delivery holding area 131 and waits in the delivery holding area 131 until it receives a movement permission (S166, S175, S181 in FIG. 13). The reception unit 111 detects the position of the other delivery means 140 by receiving the position of the other delivery means 140 transmitted from the other delivery means 140 (S187 in FIG. 13). The integrated operation management unit 113 calculates the distance D1 from the relay port 130 to the other delivery means 140 based on the position of the other delivery means 140 and the position of the relay port 130 stored in advance in the storage device 102 (S190 in FIG. 13). The integrated operation management unit 113 compares the calculated distance D1 with the distance threshold (predetermined distance) D0 stored in the storage device 102, and determines whether the distance D1 is less than the predetermined distance D0 (S190 in FIG. 13).

[0087] When the integrated operation management unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0, the output unit 114 transmits to the flying object 120 a permission to move the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 by the flying object 120 (S193 in FIG. 13). As shown in FIG. 15, when the flying object control device 123 receives the permission to move, the flying object control device 123 causes the flying object 120 to take off and move the flying object 120 from the delivery holding area 131 to the delivery delivery area 132. Thus, in the example shown in FIG. 15, the permission to move output from the output unit 114 to the flying object 120 corresponds to an operation command indicating that the delivery 190 held in the delivery holding area 131 may be moved to the delivery delivery area 132. The output unit 114 also outputs the permission to move to the other delivery means 140. The movement permission output from the output unit 114 to the other delivery means 140 corresponds to a notification indicating that the delivery item 190 held in the delivery item transfer area 132 may be moved, i.e., that the delivery item 190 may be taken out of the relay port 130.

[0088] FIG. 16 is a diagram showing an example in which the delivery item holding area 131 is set in the air. When the relay method is the airborne waiting method, as shown in FIG. 16, the flying object 120 hovers in the delivery item holding area 131 and waits in the airborne delivery item holding area 131 until it receives a movement permission (S166, S175, S178 in FIG. 13). When the integrated operation control unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0, the output unit 114 transmits a movement permission for the delivery item 190 from the delivery item holding area 131 to the delivery item delivery area 132 by the flying object 120 to the flying object 120 waiting in the airborne delivery item holding area 131 while holding the delivery item 190 (S187, S190, S193 in FIG. 13). When the flying object control device 123 receives the movement permission, it moves the flying object 120 from the delivery holding area 131 to the delivery delivery area 132. Thus, in the example shown in FIG. 16, the movement permission output from the output unit 114 to the flying object 120 corresponds to an operation command indicating that the delivery object 190 held in the delivery holding area 131 may be moved to the delivery delivery area 132. The output unit 114 also outputs the movement permission to the other delivery means 140. The movement permission output from the output unit 114 to the other delivery means 140 corresponds to a notification indicating that the delivery object 190 held in the delivery delivery area 132 may be moved, that is, that the delivery object 190 may be taken out of the relay port 130.

[0089] 17 is a diagram showing a state in which the conveying device 181 moves the delivery item 190 from the delivery holding area 131 to the delivery delivery area 132. In the example shown in FIG. 17, the conveying device 181 is provided in the relay port 130. The conveying device 181 is a device that conveys the delivery item 190 from the delivery holding area 131 to the delivery delivery area 132. The conveying device 181 is, for example, a belt conveyor, an autonomously traveling conveying vehicle, or the like. The conveying device 181 is equipped with a conveying control device and a communication device, and transmits and receives information to and from the relay port operation device 100.

[0090] When the relay method is the arrival return method, the flying object 120 drops off the delivery 190 in the delivery holding area 131 and then returns to the delivery base 109 (S166, S169, S172 in FIG. 13). When the integrated operation control unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0, the output unit 114 transmits to the conveying device 181 a permission to move the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 by the conveying device 181 (S187, S190, S193 in FIG. 13). When the conveying control device receives the permission to move via the communication device, the conveying device 181 moves the delivery 190 from the delivery holding area 131 to the delivery delivery area 132. 17, the movement permission output from the output unit 114 to the transport device 181 corresponds to an operation command indicating that the delivery item 190 held in the delivery holding area 131 may be moved to the delivery transfer area 132. The output unit 114 also outputs the movement permission to the other delivery means 140. The movement permission output from the output unit 114 to the other delivery means 140 corresponds to a notification indicating that the delivery item 190 held in the delivery transfer area 132 may be moved, that is, that the delivery item 190 may be taken out of the relay port 130.

[0091] FIG. 18 is a diagram showing an example in which another delivery means 140 enters a delivery holding area 131 and moves a delivery 190. In the example shown in FIG. 18, an intrusion prevention structure 182 such as a fence or a wall is provided at the relay port 130, and the delivery holding area 131 and the delivery delivery area 132 are used together. The intrusion prevention structure 182 is formed so as to surround the delivery holding area 131. The intrusion prevention structure 182 is provided with a gate 183 that automatically opens and closes the approach to the delivery holding area 131. The gate 183 is equipped with a communication device, and automatically opens or closes in response to a remote control signal. A short-distance authentication device 184 is provided near the gate 183. The short-distance authentication device 184 is a device for authenticating the other delivery means 140 at a short distance. The short-distance authentication device 184 is, for example, a well-known code authentication device that uses a code image such as a QR code (registered trademark), or a well-known face authentication device that uses an image of a delivery person photographed by a camera. The short-distance authentication device 184 is equipped with a communication device and transmits and receives information to and from the relay port operation device 100 via the communication device.

[0092] When the other delivery means 140 is authenticated by the short-distance authentication device 184, the short-distance authentication device 184 transmits an authentication success signal indicating that the other delivery means 140 has been authenticated to the relay port operation device 100. When the reception unit 111 of the relay port operation device 100 receives the authentication success signal, the integrated operation management unit 113 detects that the position of the other delivery means 140 is the position of the short-distance authentication device 184. The short-distance authentication device 184 is installed at a position less than a predetermined distance D0 from the relay port 130. Therefore, when the other delivery means 140 is authenticated by the short-distance authentication device 184, the integrated operation management unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0.

[0093] When the other delivery means 140 is authenticated by the short-distance authentication device 184, the output unit 114 transmits an instruction to open the gate 183 to the gate 183. Furthermore, the output unit 114 transmits a permission to move the delivery 190 by the other delivery means 140 from the delivery holding area 131 to the other delivery means 140. When the gate 183 receives the opening instruction, it executes an opening operation from the closed position to the open position. When the information terminal 142 of the delivery person which is the other delivery means 140 receives the movement permission, it displays a message, an icon, etc., indicating that the delivery 190 placed in the delivery holding area 131 may be moved on the display screen of the display device 143a. Thus, in the example shown in FIG. 18, the movement permission output from the output unit 114 to the other delivery means 140 corresponds to a notification indicating that the delivery 190 held in the delivery receiving and transferring area 132 (delivery holding area 131) may be moved, that is, that the delivery 190 may be taken out of the relay port 130.

[0094] After the delivery person picks up the delivery item 190 and moves to the outside of the gate 183, the delivery person performs a delivery start operation (receiving completion operation) of the delivery item 190 using the input device 143b of the information terminal 142. When the delivery start operation is performed, the information terminal 142 transmits a delivery start signal by the other delivery means 140 to the relay port operation device 100. When the reception unit 111 receives the delivery start signal, the output unit 114 transmits a blocking instruction to the gate 183. When the gate 183 receives the blocking instruction, it performs a closing operation from the open position to the closed position. Note that when the other delivery means 140 is not authenticated by the short-distance authentication device 184, the output unit 114 does not transmit an opening instruction for the gate 183. As a result, the gate 183 is maintained in a state in which the approach road is blocked.

[0095] According to the above-described embodiment, the following advantageous effects are obtained.

[0096] (1) The relay port operation device 100 according to this embodiment operates the relay port 130 and also functions as a delivery management device that manages various devices (aircraft 120, other delivery means 140, transport device 181, gate 183, short-distance authentication device 184, etc.) that constitute the delivery system 10. The relay port 130 is a destination to which the aircraft 120 delivers the delivery item 190, and is provided so that the other delivery means 140 different from the aircraft 120 can receive the delivery item 190. The relay port operation device 100 includes a reception unit 111 that receives the attributes of the delivery item 190 and the desired delivery date and time (final receipt time) 161b of the delivery item 190 as input information, a delivery plan creation unit 112 that uses the input information received by the reception unit 111 to create a delivery plan in which the air vehicle 120 and other delivery means 140 cooperate via the relay port 130, an integrated operation management unit 113 that manages the operation of the air vehicle 120 and other delivery means 140 based on the delivery plan created by the delivery plan creation unit 112, and an output unit 114 that outputs permission to move the delivery item 190 to at least one of the air vehicle 120 and the other delivery means 140 when the distance D1 from the relay port 130 to the other delivery means 140 becomes less than a predetermined distance D0. In this configuration, when movement permission is output, movement of the delivery item 190 by at least one of the flying object 120 and the other delivery means 140 is permitted, so that the delivery item 190 can be safely delivered via the relay port 130.

[0097] (2) The relay port 130 is provided with a delivery item holding area 131 to which access from outside is prohibited (see FIG. 3). The output unit 114 outputs a transport instruction to the air vehicle 120 to transport the delivery item 190 to the delivery item holding area 131 of the relay port 130 (step S125 in FIG. 12). The integrated operation control unit 113 determines whether the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0 (S190 in FIG. 13). When it is determined that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0, the output unit 114 outputs a movement permission for the delivery item 190 in the delivery item holding area 131 to at least one of the air vehicle 120 and the other delivery means 140 (S193 in FIG. 13). According to this configuration, the delivery item 190 is physically held in the delivery item holding area 131 to which access from outside is prohibited until the movement permission is output. This makes it possible to appropriately prevent damage and theft of the delivery 190 by a third party.

[0098] When the relay method is an airborne waiting method or a landing waiting method (see Figs. 14 to 16), the output unit 114 outputs a movement permission to the flying object 120. This allows the flying object 120 to move the delivery item 190 from the delivery item holding area 131 and hand it over to the other delivery means 140. In addition, by sending a notice indicating the movement permission to the other delivery means 140 (see Fig. 5), the other delivery means 140 can receive the delivery item 190 placed in the delivery item holding area 131 or the delivery item delivery area 132 (see Figs. 15 to 18).

[0099] (3) When the distance D1 from the relay port 130 to the other delivery means 140 is equal to or greater than the predetermined distance D0, the delivery 190 is prohibited from moving from the delivery holding area 131 to the delivery delivery area 132. For example, when the relay method is an airborne waiting method or a landing waiting method (see Figs. 14 to 16), the flying object 120 waits in the delivery holding area 131 until it receives a movement permission. Also, when the relay method is an arrival return method and a conveying device 181 is provided to convey the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 (see Fig. 17), the conveying device 181 holds the delivery 190 in the delivery holding area 131 until it receives a movement permission.

[0100] When the integrated operation management unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0, the output unit 114 outputs permission to move the delivery item 190 from the delivery item holding area 131 to the delivery item delivery area 132 to at least one of the flying object 120 and the conveying device 181.

[0101] For example, when the relay method is an airborne waiting method or a landing waiting method (see Figs. 14 to 16), the output unit 114 outputs to the flying object 120 a permission to move the delivery item 190 by the flying object 120 from the delivery item holding area 131 to the delivery item delivery area 132. This allows the flying object 120 to move the delivery item 190 from the delivery item holding area 131 to the delivery item delivery area 132 and hand it over to the other delivery means 140. With this configuration, it is not necessary to install the conveying device 181 in the relay port 130, so that the initial cost of the delivery system 10 can be reduced. In addition, it is not necessary to secure a space for installing the conveying device 181, so that the freedom of installation of the relay port 130 can be increased.

[0102] When the relay method is the arrival return method and the conveying device 181 that conveys the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 is provided in the relay port 130 (see FIG. 17), the output unit 114 outputs to the conveying device 181 a permission to move the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 by the conveying device 181. This allows the conveying device 181 to move the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 and hand it over to the other delivery means 140. With this configuration, it is not necessary to have the flying object 120 wait at the relay port 130. In other words, the flying object 120 can be returned to the delivery base 109 and used for another delivery. As a result, the delivery efficiency of the delivery system 10 can be improved.

[0103] (4) In the relay method (airborne waiting method) in which the delivery holding area 131 is set in the air, when the distance D1 from the relay port 130 to the other delivery means 140 is equal to or greater than the predetermined distance D0, the air vehicle 120 holding the delivery 190 waits in the airborne delivery holding area 131. When the integrated operation management unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than the predetermined distance D0, the output unit 114 outputs permission for the air vehicle 120 to move the delivery 190 from the delivery holding area 131 to the delivery delivery area 132 to the airborne delivery holding area 132, to the air vehicle 120 waiting in the airborne delivery holding area 131 while holding the delivery 190. In this configuration, the installation of an intrusion prevention structure 182 such as a fence or wall at the relay port 130 can be omitted. As a result, the initial cost of the delivery system 10 can be reduced. In addition, in this configuration, there is no need to rent a rooftop of a store or the like. Furthermore, there is no need to secure space for installing the intrusion prevention structure 182. This increases the degree of freedom in installing the relay port 130.

[0104] (5) The reception unit 111 receives the position of the other delivery means 140 (S187 in FIG. 13). The integrated operation management unit 113 calculates the distance D1 from the relay port 130 to the other delivery means 140 based on the position of the other delivery means 140 and the position of the relay port 130. In this configuration, when the calculated distance D1 becomes less than the predetermined distance D0, a movement permission is output to the flying object 120, the conveying device 181, and the other delivery means 140. For example, the flying object 120 or the conveying device 181 receives an operation command as a movement permission, so that the delivery item 190 can be moved and preparation for delivery can be advanced. In addition, one or more other delivery means 140 that are present less than the predetermined distance D0 from the relay port 130 receive a notification as a movement permission. As a result, one or more other delivery means 140 can grasp the relay port 130 for which delivery preparation is in progress or has been completed among the multiple relay ports 130. As a result, the delivery efficiency by the delivery system 10 can be improved.

[0105] (6) As shown in FIG. 18, a certain relay port 130 is provided with a gate 183 that opens and closes the entrance to the delivery holding area 131, and a short-distance authentication device 184 that authenticates the other delivery means 140 at a short distance. When the other delivery means 140 is authenticated by the short-distance authentication device 184, the integrated operation management unit 113 determines that the distance D1 from the relay port 130 to the other delivery means 140 is less than a predetermined distance D0. When the other delivery means 140 is not authenticated by the short-distance authentication device 184, the output unit 114 does not output an instruction to open the gate 183, and maintains the state in which the entrance is blocked by the gate 183. When the other delivery means 140 is authenticated by the short-distance authentication device 184, the output unit 114 outputs an instruction to open the gate 183 to the gate 183, and outputs a permission to move the delivery 190 by the other delivery means 140 from the delivery holding area 131 to the other delivery means 140. In this configuration, a cargo arrival return method can be adopted as a relay method. Therefore, the flying object 120 can return to the delivery base 109 as soon as unloading is completed. The flying object 120 that has returned to the delivery base 109 can be used for another delivery, so that the delivery efficiency of the delivery system 10 can be improved.

[0106] (7) The delivery plan creation unit 112 calculates the flight holdable limit time t1, which is the limit time during which the aircraft 120 can fly while holding the delivery item 190, based on the specifications of the aircraft 120 and the weight 161d included in the attributes of the delivery item 190. The delivery plan creation unit 112 calculates the quality holdable limit time t2, which is the allowable time for maintaining the quality of the delivery item 190, based on the type 161j included in the attributes of the delivery item 190. The delivery plan creation unit 112 creates a delivery plan based on the flight holdable limit time t1 and the quality holdable limit time t2. For example, the delivery plan creation unit 112 determines the smaller of the flight holdable limit time t1 and the quality holdable limit time t2 as the delivery item holding time t3, and calculates the departure time of the aircraft 120 based on the delivery item holding time t3 and the delivery desired date and time (last receipt time) 161b, etc. According to this configuration, the transportation of the delivery item 190 by the flying object 120 and the return to the delivery base 109 can be performed appropriately, and deterioration of the quality of the delivery item 190 can be prevented.

[0107] The following modified examples are also within the scope of the present invention, and it is possible to combine the configurations shown in the modified examples with the configurations described in the above-mentioned embodiments, or to combine the configurations described in the different modified examples below.

[0108] <Variation 1> In the above embodiment, an example has been described in which the relay port operation method for operating the relay port 130 provided for the aircraft 120 to deliver the delivery 190 and for another delivery means 140 different from the aircraft 120 to receive the delivery 190 is realized by the control device 110 and the communication device 103 of the relay port operation device 100. However, the present invention is not limited to this. A part of the processing executed by the relay port operation device 100 described above may be realized by an administrator who manages the delivery by operating the input device 105 to input predetermined information into the relay port operation device 100 while referring to the information displayed on the display device 104. For example, the administrator may operate the input device 105 to modify a part of the delivery plan. At least, the relay port operating method may include a receiving step (S110 in FIG. 12) of receiving at least one of the attributes of the delivery item 190 and the final receiving time of the delivery item 190 as input information, a delivery plan creation step (S115 in FIG. 12) of creating a delivery plan in which the flying object 120 and the other delivery means 140 cooperate via the relay port 130 using the received input information, an operation management step (S125 to S145 in FIG. 12) of managing the operation of the flying object 120 and the other delivery means 140 based on the created delivery plan, and an output step (S193 in FIG. 12) of outputting a movement permission for the delivery item 190 to at least one of the flying object 120 and the other delivery means 140 when the distance D1 from the relay port 130 to the other delivery means 140 becomes less than a predetermined distance D0. This allows the delivery item 190 to be safely delivered via the relay port 130.

[0109] <Variation 2> In the above embodiment, the delivery schedule creation unit 112 calculates the remaining flight time using the characteristic data 162d of the remaining flight time, but the present invention is not limited to this. For example, the remaining flight time may be calculated as follows.

[0110] The delivery plan creation unit 112 calculates the outward travel time required for moving from the delivery base 109 to the relay port 130 and the battery consumption of the aircraft 120 on the outward journey based on the route length of the route 174 connecting the delivery base 109 and the relay port 130, the standard speed 162e of the aircraft 120, the weight 161d of the delivery 190, and the wind condition vector 164d on the route 174. In addition, the delivery plan creation unit 112 calculates the return travel time required for moving from the relay port 130 to the delivery base 109 and the battery consumption of the aircraft 120 on the return journey based on the route length of the route 174 connecting the delivery base 109 and the relay port 130, the standard speed 162e of the aircraft 120, and the wind condition vector 164d on the route 174.

[0111] The delivery plan creation unit 112 calculates the battery capacity available for hovering at the relay port 130 based on the battery consumption on the outbound journey, the battery consumption on the return journey, and the battery's full charge capacity. The delivery plan creation unit 112 calculates the time during which hovering is possible (hereinafter, referred to as the hovering available time) based on the calculated battery capacity and the weight of the delivery item 190. The delivery plan creation unit 112 calculates the sum of the outbound travel time, the return travel time, and the hovering available time as the flight available time.

[0112] <Variation 3> In the above embodiment, an example has been described in which a delivery plan is created using both the attributes of the delivery item 190 and the final receiving time of the delivery item 190. However, the present invention is not limited to this. The delivery plan creation unit 112 may create a delivery plan using at least one of the attributes of the delivery item 190 and the final receiving time of the delivery item 190.

[0113] <Modification 4> The configuration of the relay port 130, the type of relay method from the flying object 120 to the other delivery means 140 at the relay port 130, and the combination of the method of detecting the position of the other delivery means 140 are not limited to those described in the above embodiment. For example, as shown in Fig. 19, in the landing waiting method, the position of the other delivery means 140 may be detected by the near-field authentication device 184. Although not shown, in the air waiting method, the position of the other delivery means 140 may be detected by the near-field authentication device 184.

[0114] <Variation 5> 19, the short-distance authentication device 184 is permanently installed in the relay port 130. However, the short-distance authentication device 184 is not limited to being permanently installed in the relay port 130. For example, the short-distance authentication device 184 may be provided in the flying object 120. In this case, since the installation of the short-distance authentication device 184 in the relay port 184 can be omitted, the equipment cost of the relay port 130 can be reduced.

[0115] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments. [Explanation of symbols]

[0116] 10...Delivery system, 30...Relay port, 100...Relay port operation device, 101...Processing device, 102...Storage device, 103...Communication device, 104...Display device, 105...Input device, 109...Delivery base, 110...Control device, 111...Reception unit, 112...Delivery plan creation unit, 113...Integrated operation management unit, 114...Output unit, 120...Air vehicle, 130...Relay port, 131...Delivery item holding area, 132...Delivery item delivery area, 140...Other delivery means, 141...Delivery vehicle, 142...Information terminal, 143a...Display device, 143b...input device, 144a...map display screen, 144b...relay point status display screen, 149...user, 150...delivery destination, 151...user interface, 160...data server, 161...delivery item attribute database, 161a...delivery item identification information, 161b...desired delivery date and time (last receipt time), 161c...delivery destination (location), 161d...weight, 161e...size, 161f...shock resistance value, 161g...weather resistance / temperature information, 161h...confidential information, 161j...type, 162...aircraft database base, 162a...aircraft identification information, 162b...maximum portable size, 162c...maximum portable weight, 162d...characteristic data, 162e...standard speed, 163...relay point database, 163a...relay point identification information, 163b...wind condition information, 163c...precipitation, 163d...snowfall, 163e...temperature, 163f...regulation information, 163g...security information, 163h...charging equipment information, 163i...position detection means, 164...spatial information database, 164a...spatial identification information, 164b...obstacle information, 164c... Radio status information, 164d...wind vector, 164e...precipitation, 164f...snowfall, 164g...temperature, 164h...regulation information, 174...route, 180...environmental sensor, 181...transportation device, 182...intrusion prevention structure, 183...gate, 184...close-range authentication device, 190...delivery item, D0...predetermined distance (distance threshold), D1...distance from relay port to other delivery means, t0...time threshold, t1...flight holdable limit time, t2...quality holdable time, t3...delivery item holdable time, t4...elapsed time, t5...remaining time

Claims

1. A relay port operating device that operates a relay port provided so that an aircraft delivers a delivery and a delivery means different from the aircraft receives the delivery, A reception unit that receives at least one of the attributes of the delivery item and the final receiving time of the delivery item as input information; A delivery plan creation unit that creates a delivery plan in which the aircraft and the other delivery means cooperate with each other via the relay port using the input information received by the reception unit; An integrated operation management unit that manages the operation of the aircraft and the other delivery means based on the delivery plan created by the delivery plan creation unit; an output unit that outputs a movement permission of the delivery item to at least one of the air vehicle and the other delivery means when the distance from the relay port to the other delivery means becomes less than a predetermined distance; A relay port operation device comprising:

2. 2. The trunk port operation device according to claim 1, The relay port is provided with a delivery holding area to which access from outside is prohibited, The output unit outputs a transport instruction to the aircraft to transport the delivery item to the delivery item holding area of ​​the relay port, The integrated operation control unit determines whether or not a distance from the relay port to the other delivery means is less than a predetermined distance, When it is determined that the distance from the relay port to the other delivery means is less than the predetermined distance, the output unit outputs a movement permission for the delivery item in the delivery item holding area to at least one of the air vehicle and the other delivery means. Relay port operation device.

3. 3. The relay port operation device according to claim 2, When the distance from the relay port to the other delivery means is equal to or greater than the predetermined distance, the delivery is prohibited from moving from the delivery holding area to the delivery receiving area, When it is determined that the distance from the relay port to the other delivery means is less than the predetermined distance, the output unit outputs a movement permission for the delivery from the delivery holding area to the delivery transfer area. Relay port operation device.

4. 4. The relay port operation device according to claim 3, When it is determined that the distance from the relay port to the other delivery means is less than the predetermined distance, the output unit outputs, to the air vehicle, permission to move the delivery item from the delivery item holding area to the delivery item transfer area by the air vehicle. Relay port operation device.

5. 5. The relay port operation device according to claim 4, The delivery holding area is set in the air, When it is determined that the distance from the relay port to the other delivery means is less than the predetermined distance, the output unit outputs, to the air vehicle waiting in the air in the delivery holding area while holding the delivery item, permission for the air vehicle to move the delivery item from the delivery holding area to the delivery transfer area. Relay port operation device.

6. 4. The relay port operation device according to claim 3, The relay port is provided with a transport device that transports the delivery from the delivery holding area to the delivery delivery area, When it is determined that the distance from the relay port to the other delivery means is less than the predetermined distance, the output unit outputs, to the transport device, a permission to move the delivery by the transport device from the delivery holding area to the delivery transfer area. Relay port operation device.

7. 3. The relay port operation device according to claim 2, The reception unit receives the location of the other delivery means, The integrated operation control unit calculates a distance from the relay port to the other delivery means based on the position of the other delivery means and the position of the relay port. Relay port operation device.

8. 3. The relay port operation device according to claim 2, The relay port includes: a gate for opening and closing an access road to the delivery holding area; A short-distance authentication device for authenticating the other delivery means at a short distance is provided, When the other delivery means is authenticated by the short-distance authentication device, the integrated operation control unit determines that the distance from the relay port to the other delivery means is less than the predetermined distance, The output unit is If the other delivery means is not authenticated by the short-distance authentication device, an instruction to open the gate is not outputted, and the entrance road is kept blocked by the gate; When the other delivery means is authenticated by the short-distance authentication device, an instruction to open the gate is output to the gate, and a permission to move the delivery by the other delivery means from the delivery holding area is output to the other delivery means. Relay port operation device.

9. 2. The trunk port operation device according to claim 1, The delivery plan creation unit is Calculating a flight holding limit time, which is a limit time that the aircraft can fly while holding the delivery item, based on the specifications of the aircraft and the weight included in the attributes of the delivery item; Calculating a permissible quality maintenance time, which is a permissible time for maintaining the quality of the delivery item, based on the type included in the attributes of the delivery item; Creating the delivery plan based on the flight maintenance limit time and the quality maintenance allowable time. Relay port operation device.

10. A relay port operation method in which an aircraft delivers a delivery and a relay port is operated so that a delivery means different from the aircraft receives the delivery, a receiving step of receiving at least one of the attributes of the delivery item and the final receiving time of the delivery item as input information; A delivery plan creation process for creating a delivery plan in which the aircraft and the other delivery means cooperate with each other via the relay port using the received input information; An operation management process for managing the operation of the aircraft and the other delivery means based on the created delivery plan; and an output step of outputting a movement permission of the delivery item to at least one of the air vehicle and the other delivery means when the distance from the relay port to the other delivery means becomes less than a predetermined distance. Relay port operation method.

Images